Mechanical vibration based inter-module communication in vehicle

ABSTRACT

Components of a device may transmit signals between one another using piezo electric transducers (PETs). In a basic system, a first PET may be coupled to and/or in contact with a first location on a member. A second PET may be coupled to and/or in contact with a second location on the member and separated from the first PET by a distance. The first PET may receive a signal (e.g., an electrical voltage) and convert the signal to a mechanical force/stress causing vibration of the member. The vibration may propagate through the member to other locations about the member. The second PET receive the vibration and may convert the vibration back to the signal, such as by converting mechanical force/stress to the electrical voltage (i.e., the signal). A similar process may be performed in reverse to enable the first and second PET to provide two-way communication.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of, and claims priority to,commonly-owned U.S. patent application Ser. No. 15/997,365, filed onJun. 4, 2018 and issued as U.S. Pat. No. 10,759,533, which isincorporated herein in its entirety by reference.

BACKGROUND

Unmanned aerial vehicles (UAVs), have become commonly used by hobbyistsand some commercial or governmental entities. While many UAVs are usedfor image capture, many other uses exist. UAVs offer unique advantagesand considerations as compared to their counterpart manned aerialvehicles (e.g., typical helicopters and fixed wing aircraft). Forexample, UAVs may be smaller in overall size and lightweight as comparedto their counterpart manned aerial vehicles. However, designing smalland lightweight UAVs is challenging.

Redundant systems are important in aircraft. As an example, althoughsome UAVs have up to eight rotors, fewer rotors are often needed to keepthe UAV in flight or to enable a controlled landing. While not allsystems in a UAV include redundancy, it is desirable to introduceredundancy where possible while weighing cost, weight, and otherconsiderations.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanyingfigures. In the figures, the left-most digit(s) of a reference numberidentifies the figure in which the reference number first appears. Thesame reference numbers in different figures indicate similar oridentical items.

FIG. 1 is a top plan view of an illustrative unmanned aerial vehicle(UAV) including piezo electric communication device(s) configured toenable communications between at least two components by way ofvibrations transmitted by a member of the UAV.

FIG. 2 is a block diagram of an illustrative piezo electriccommunication device that may be configured with a UAV, other vehicles,and/or other devices.

FIG. 3 is a perspective view of an illustrative piezo electriccommunication device configured with non-isolated members.

FIG. 4 is a perspective view of an illustrative piezo electriccommunication device configured with isolated members.

FIG. 5 is a flow diagram of an illustrative process to transmit a signalbetween different components using associated piezo electrictransducers.

FIG. 6 is a flow diagram of an illustrative process to transmit a returnsignal between the different components using the associated piezoelectric transducers.

FIG. 7 is a flow diagram of an illustrative process to transmit a signalto a third component using associated piezo electric transducers.

FIG. 8 is a flow diagram of an illustrative process to transmit a targetresource identification signal and a payload signal for the targetresource using associated piezo electric transducers.

FIG. 9 is a flow diagram of an illustrative process to utilize piezoelectric transducers as a redundant communication process.

FIG. 10 is a block diagram of an illustrative computing architecture ofthe UAV.

DETAILED DESCRIPTION

This disclosure is directed to sending signals between components usingpiezo electric transducers (PETs). In a basic system, a first PET may becoupled to and/or in contact with a first location on a member, such asa metal beam, composite beam, or other structure. A second PET may becoupled to and/or in contact with a second location on the member andseparated from the first PET by a distance. The first PET may receive asignal (e.g., an electrical voltage) and convert the signal to amechanical force/stress causing vibration of the member. The vibrationmay propagate through the member to other locations about the member.The second PET receive the vibration and may convert the vibration backto the signal, such as by converting mechanical force/stress to theelectrical voltage (i.e., the signal). A similar process may beperformed in reverse to enable the first and second PET to providetwo-way communication. Each PET may be in communication with arespective component. The components may generate signals, receivesignals, or both.

Some devices, such as unmanned aerial vehicles (UAVs), automobiles, andother mechanical devices may be subject to vibration during normaloperation. For example, the motors and rotors of a UAV may cause theframe of the UAV to be subjected to operational vibration at arelatively low frequency (e.g., Hz range). To avoid interference withthese operational vibrations, the PETs may generate vibrations having ahigher magnitude of frequency, such as a ten-times order of magnitudegreater or more than the operational vibrations. As an example, the PETsmay generate vibrations in the kHz or MHz frequency range, or possiblygreater (e.g., greater than 1 kHz), while the operational vibrations maybe measured in a Hz and be less than 1 kHz. In some embodiments, PETsmay transmit concurrent vibrations across members of a device usingdifferent frequency ranges to avoid interference between the vibrations.Thus a first pair of PETs may communicate using a first frequency rangeof vibrations transmitted through a member while a second pair of PETsmay communicate using a second, different frequency range of vibrationstransmitted through the member which do not overlap with the firstfrequency range of vibrations. This may enable receiving PETs todistinguish which vibrations to process, for example.

In accordance with one or more embodiments, A PET may generate a targetresource identification signal via a first sequence of vibrations and apayload signal via a second sequence of vibrations. The target resourceidentification signal may be read by a particular PET that is associatedwith a target resource. The particular PET may then pass the payloadsignal to the target resource. By using the target resourceidentification signal, vibrations may be sent to particular PETs coupledto a same member or frame, for example.

A UAV may use PETs to transmit signals between various components of theUAV. For example, a controller of the UAV may send signals to anelectric speed control (ESC), which controls speed of a motor and rotor.The controller may communicate with multiple ESCs using techniquesdescribed herein. The PETs may be used as an alternative to a wiredcommunication system or may be used as a redundant system along with awired communication system and/or a wireless system using radiofrequencies. The PETs may cause vibrations to members of a frame of theUAV and/or to other existing components or structures (e.g., structures,aesthetic parts, etc.), and therefore may be implemented without addinga new member or member dedicated for use by a PET.

The PETs may be powered by a same source as other components or by adifferent power source. For example, the PETs may include a separatepower source, such as a battery and/or capacitor(s) to power the PETs.Capacitors may be used as a backup power supply and may cause relativelylittle draw of power from a primary power source when the PETs are notis use.

The techniques and systems described herein may be implemented in anumber of ways. Example implementations are provided below withreference to the following figures.

FIG. 1 is a top plan view of an illustrative UAV 100 including piezoelectric communication device(s) configured to enable communicationsbetween at least two components by way of vibrations transmitted acrossor through a member of the UAV 100. In some embodiments, the UAV 100 mayinclude a component 102(1) in communication with a first PET 104(1). Thecomponent 102(1) may be an electronic speed control (ESC) configuredwith a motor and rotor, which act as a propulsion unit of a plurality ofpropulsion units of the UAV 100. The UAV 100 may include a controller106, which may transmit a signal to the component 102(1) and/or othercomponents. The controller 106 may be in communication with a second PET108 and possibly with multiple second PETs. The UAV 100 may include aframe 110, which may include a member 112 that vibrates in response tomechanical stress/force caused by a PET.

During operation of the UAV 100, the controller 106 may generate asignal for the component 102(1), and possibly for other components102(2)-(8), for example. The signal may be received by the second PET108 from the controller 106 and converted from an electrical voltage toa mechanical force/stress to be imparted on the member 110. The secondPET 108 and the first PET 104(1), and other PETs 104(2)-(N), may becoupled to or in contact with the member 110 or other members of theframe, or possibly other structure of the UAV. For example, PETs mayvibrate wings, struts, portions of a fuselage, and/or other load-bearingor non-load-bearing members of the UAV 100. The vibrations of the member110 caused by the second PET 108 may be cause mechanical force/stress tobe imparted on the first PET 102(1), which may convert this mechanicalforce/stress back into electrical voltage (or a different predictedvoltage), which in turn may be communicated to the first component102(1) as the signal. In some embodiments, signals may also betransmitted in the reverse direction discussed above. The controller 106may transmit signals using the PETs to various different components,such as multiple ESCs and/or other devices. In some embodiments, thePETs may transmit signals using a predetermined range of vibrationsintended for receipt by specific corresponding PETs. In variousembodiments, pairs of PETs may be coupled to members that are isolatedfrom other members, such as by use of intervening parts and/ordampeners.

In some embodiments, the UAV 100 may include a wired communicationsystem 114, which may facilitate sending signals between the controller106 and other components, such as the components 102(1)-(N). In an eventof a failure of the wired communication system, the PETs may be used totransmit signals about the UAV as described above. In variousembodiments, the UAV 100 may employ a wireless radio frequencycommunication system instead of the wired communication system 114, oralong with wired communication system 114.

FIG. 2 is a block diagram of an illustrative piezo electriccommunication device 200 that may be configured with a UAV (e.g., theUAV 100 shown in FIG. 1 ), other vehicles, and/or other devices. Thepiezo electric communication device 200 may include a frame 202 havingone or more members 204(1)-(X). The members may be structural and/ornon-structural members or parts capable to transmitting or propagatingvibrations across a distance of the member. The members may be formed ofpolymers, composites, metals, and/or other non-dampening materials thatsustain at least some vibrations for a predetermined amount of time andacross a predetermined distance in response to a mechanical force/stressimparted by a piezo electric transducer. For example, a member may be anaesthetic panel or may be a support beam that supports a component. Theframe 202 and members 204(1)-204(X) may be part of an existing device orvehicle, such as a UAV. However, since these members are used totransmit vibrations, the members may be part of the piezo electriccommunication device 200 described herein.

The piezo electric communication device 200 may include a plurality ofcomponents 206(1)-(N). The components 206(1)-(N) may include standardcomponents and/or custom components found on a device or vehicle. Whenthe components 206(1)-(N) are used by a UAV, the components 206(1)-(N)may include a controller, ESCs, a power supply, a navigation system, asensor, and/or other components shown n FIG. 10 .

The piezo electric communication device 200 may include piezo electrictransducers 208(1)-(N). In some embodiments, each piezo electrictransducer may be paired with a component. For example, the piezoelectric transducer 208(1) may be paired with the component 206(1) andmay in communication with the component 206(1), such as via a wiredconnection to receive from the component or output to the component206(1) an electrical voltage. However, a piezo electric transducer maybe configured to communicate with multiple components in someembodiments, and thus act as a shared resource to provide signals forthose components to other components by way of vibrations as describedherein.

The piezo electric communication device 200 may include a power source210 to provide power to the piezo electric transducers 208(1)-(N). Thepower source 210 may be a shared power source that also powers thedevice or vehicle, including the components 206(1)-(N). In someembodiments, the power source 210 may be a dedicated power source usedto power the piezo electric transducers 208(1)-(N). The power source 210may be implemented as a battery or as one or more capacitors. Thecapacitor(s) may store energy from a different power source, andgenerate little draw of power when the piezo electric transducers208(1)-(N) are not used. The capacitor(s) may be used as a backup powersource, such as when the piezo electric transducers 208(1)-(N) are usedas a redundant system.

In accordance with one or more embodiments, the piezo electriccommunication device 200 may include a wired system 212, which may beused as a primary communication system between at least some of thecomponents 206(1)-(N). In the event of a failure of the wired system, orin response to other predetermined situations, the piezo electrictransducers 208(1)-(N) may be used to exchange at least some signalsbetween components as discussed herein.

FIG. 3 is a perspective view of an illustrative piezo electriccommunication device 300 configured with non-isolated members. The piezoelectric communication device 300 includes a member 302. The member 302may be a single part, such as a molded part formed as a single piece. Insome embodiments, the member may be formed of multiple parts that areconnected together using a coupling, such as a fastener, a wield, apress-fit, or other coupling that enables vibrations to pass between theparts without substantially changing a frequency of vibrations of themember 302. Thus, the parts (if more than one) of the member 202 may benon-isolated from one another, where isolation disrupts a vibrationpassing between parts. The piezo electric communication device 300 mayinclude a first component 304, a second component 306, and a thirdcomponent 308. The first component 304 may transmit signals to thesecond component 306 and/or to the third component 308, such as bygenerating an electrical voltage. To communicate the signals (i.e., theelectrical voltage(s)), each component may be in communication with aPET. A first PET 310 may be in communication with the first component304. A second PET 312 may be in communication with the second component306. A third PET 314 may be in communication with the third component308. In an example operation, the first component 304 may generate asignal for the second component 306. The signal (i.e., an electricalvoltage) may be communicated from the first component 304 to the firstPET 310. The first PET 310 may convert the signal into a mechanicalforce/stress, which is imparted on the member 302 as a vibration. Thevibration may travel across the member 302 and be received by the secondPET 312. The second PET 312 may convert the vibration (i.e., themechanical force/stress) to the signal (i.e., the electrical voltage).The second PET 312 may communicate the signal to the second component306. Meanwhile the third PET 314 may also receive the vibration from thefirst PET. In some embodiments, the vibration may include a frequencyrange designated for receipt or implementation by the second PET 312 andnot the third PET 314. As an example, the second PET 312 may include kHzfrequencies while the third PET 314 may receive MHz frequency ranges.Thus, the third PET 314 may ignore the frequencies outside of certainranges. In various embodiments, the vibrations may include a targetresource identification signal via a first sequence of vibrations and apayload signal via a second sequence of vibrations. The target resourceidentification signal may be read by second PET 312, which may determinethat the second component is the target resource. The second PET 312 maythen provide the payload signal to the second component 306. Meanwhile,the third PET may determine that the third component 308 is not thetarget resource, and may refrain from processing the payload signal, forexample.

FIG. 4 is a perspective view of an illustrative piezo electriccommunication device 400 configured with isolated members. The piezoelectric communication device 400 includes a frame 402. The frame 402may include a first member 404 and a second member 406, and possiblyadditional members. The first member 404 may be isolated from the secondmember 406 by a gap or by a dampener 408, such as a rubber gasket thatabsorbs vibrations. The isolation disrupts a vibration passing betweenthe first member 404 and the second member 406. Thus, each member mayact like a different communication conduit, and may carry vibrationswithin a same frequency range to respective components without concernfor which component may receive the signal.

The piezo electric communication device 300 may include the firstcomponent 304, the second component 306, and the third component 308.The first component 304 may transmit signals to the second component 306and/or to the third component 308, such as by generating an electricalvoltage. To communicate the signals (i.e., the electrical voltage(s)),each component may be in communication with a PET.

A first PET 410 and a second PET 412 may be in communication with thefirst component 304. A third PET 414 may be in communication with thesecond component 306. A fourth PET 416 may be in communication with thethird component 308. In an example operation, the first component 304may generate a signal for the second component 306. The signal (i.e., anelectrical voltage) may be communicated from the first component 304 tothe second PET 412. The second PET 412 may convert the signal into amechanical force/stress, which is imparted on the second member 406 as avibration. The vibration may travel across the second member 406 and bereceived by the third PET 414. The third PET 414 may convert thevibration (i.e., the mechanical force/stress) to the signal (i.e., theelectrical voltage). The third PET 414 may communicate the signal to thesecond component 306. Meanwhile the fourth PET 416 may not receive thevibration due to the gap or dampener 408 between the first member 404and the second member 406.

In another example operation, the first component 304 may generate asignal for the third component 308. The signal (i.e., an electricalvoltage) may be communicated from the first component 304 to the firstPET 410. The first PET 410 may convert the signal into a mechanicalforce/stress, which is imparted on the first member 404 as a vibration.The vibration may travel across the first member 404 and be received bythe fourth PET 416. The fourth PET 416 may convert the vibration (i.e.,the mechanical force/stress) to the signal (i.e., the electricalvoltage). The fourth PET 416 may communicate the signal to the thirdcomponent 308. Meanwhile the third PET 414 may not receive the vibrationdue to the gap or dampener 408 between the first member 404 and thesecond member 406.

FIGS. 5-9 are flow diagrams of illustrative processes to performcommunications of a signal using piezo electric transducers. Theprocesses are illustrated as a collection of blocks in a logical flowgraph, which represent a sequence of operations that can be implementedin hardware, software, or a combination thereof. The order in which theoperations are described is not intended to be construed as alimitation, and any number of the described blocks can be combined inany order and/or in parallel to implement the process.

FIG. 5 is a flow diagram of an illustrative process 500 to transmit asignal between different components using associated piezo electrictransducers. The process 500 is described with reference to the piezoelectric communication device 200 and may be performed by the piezoelectric communication device 200 and/or other preceding disclosure. Ofcourse, the process 500 may be performed in other similar and/ordifferent environments and/or by other similar and/or different devicesincluding vehicles (e.g., a UAV, etc.).

At 502, a first component may generate a signal for transmission to asecond component. The signal may be an electrical voltage or a series ofelectrical voltages.

At 504, a first piezo electric transducer may receive the signal andconvert the signal to a vibration sequence imparted on a member. Forexample, the first piezo electric transducer may convert an electricalvoltage (i.e., the signal) to a mechanical force/stress imparted on amember, which causes the member to vibrate with a predeterminedfrequency.

At 506, a second piezo electric transducer may be subjected to thevibration, and thus the mechanical force/stress conveyed by thevibrations from the operation 504. The second piezo electric transducermay be coupled to or in contact with the member at a different locationthan the first piezo electric transducer, which is also coupled to or incontact with the member. The term “coupled” as used herein includes aPET situated proximate to the member and configured to impart mechanicalforce/stress on the member or receive mechanical force/stress from themember, but possibly not being secured to the member.

At 508, the second piezo electric transducer may convert the vibrationsequence, which is received a mechanical force/stress, into anelectrical voltage, which is used as a signal for the second electricalcomponent. The second piezo electric transducer may be a same or similardevice as the first piezo electric transducer.

At 510, the second piezo electric transducer may communicate the signal(i.e., electrical voltage) to the second electrical component. Thus, thesecond electrical component may receive the signal from the firstcomponent by way of vibrations through the member.

FIG. 6 is a flow diagram of an illustrative process 600 to transmit areturn signal between the different components using the associatedpiezo electric transducers. The process 600 is described with referenceto the piezo electric communication device 200 and may be performed bythe piezo electric communication device 200 and/or other precedingdisclosure. Of course, the process 600 may be performed in other similarand/or different environments and/or by other similar and/or differentdevices including vehicles (e.g., a UAV, etc.). In some embodiments, theprocess 600 may continue from the process 500 described above withreference to FIG. 5 , such as continuing from the operation 510, forexample.

At 602, the second piezo electric transducer may convert a differentsignal to a different vibration sequence imparted on the member. Forexample, the second piezo electric transducer may convert a differentelectrical voltage to a different mechanical force/stress imparted onthe member to cause the member to vibrate.

At 604, the first piezo electric transducer may receive the differentvibration sequence imparted on the member. For example, the first piezoelectric transducer may be subjected to mechanical force/stress from thevibrations of the member.

At 606, the first piezo electric transducer may convert the differentvibration sequence into the different signal. For example, the firstpiezo electric transducer may convert the different mechanicalforce/stress to a different electrical voltage, which may be used as asignal for the first electrical component.

At 608, the first piezo electric transducer may communicate thedifferent signal to a first electrical component. For example, the firstpiezo electric transducer may communicate the electrical voltage to thefirst electrical component.

FIG. 7 is a flow diagram of an illustrative process 700 to transmit asignal to a third component using associated piezo electric transducers.The process 700 is described with reference to the piezo electriccommunication device 200 and may be performed by the piezo electriccommunication device 200 and/or other preceding disclosure. Of course,the process 700 may be performed in other similar and/or differentenvironments and/or by other similar and/or different devices includingvehicles (e.g., a UAV, etc.). In some embodiments, the process 700 maycontinue from the process 500 described above with reference to FIG. 5or the process 600 described above with reference to FIG. 6 , such ascontinuing from the operation 510 or 608, respectively, for example.

At 702, the first piezo electric transducer may receive a differentsignal from the first component. The first piezo electric transducer mayconvert the different signal to a different vibration sequence impartedon the frame. For example, the first piezo electric transducer mayconvert a different electrical voltage to a different mechanicalforce/stress imparted on the frame or member.

At 704, a third piezo electric transducer may receive the differentvibration sequence imparted on the frame. For example, the third piezoelectric transducer may be subjected to mechanical force/stress due tothe vibrations that propagate through the member. The first piezoelectric transducer may be separated from the third piezo electrictransducer by at least a portion of the member of the frame.

At 706, the third piezo electric transducer may convert the differentvibration sequence into the different signal. For example, the thirdpiezo electric transducer may convert the different mechanicalforce/stress into the different electrical voltage as the differentsignal.

At 708, the third piezo electric transducer may communicate thedifferent signal to a third electrical component. For example, the thirdpiezo electric transducer may communicate the different electricalvoltage to the third electrical component.

In some embodiments, the vibrations generated for the third piezoelectric transducer may be within a first frequency range that isdifferent than a frequency range of vibrations intended for the secondpiezo electric transducer. For example, the vibrations generated for thethird piezo electric transducer may be within a kHz frequency rangewhile the vibrations intended for the second piezo electric transducermay be with a MHz frequency range, or vice versa.

In various embodiments, the signal intended for the third electricalcomponent may include a target resource identification signal, which maybe used to identify which component is to process a payload signal. Thisprocess is described next.

FIG. 8 is a flow diagram of an illustrative process 800 to transmit atarget resource identification signal and a payload signal for thetarget resource using associated piezo electric transducers. The process800 is described with reference to the piezo electric communicationdevice 200 and may be performed by the piezo electric communicationdevice 200 and/or other preceding disclosure. Of course, the process 800may be performed in other similar and/or different environments and/orby other similar and/or different devices including vehicles (e.g., aUAV, etc.). The process 800 may be performed with the process 700described with reference to FIG. 7 .

At 802, the first piezo electric transducer may generate a firstvibration sequence representing a target resource identification signal.The target resource identification signal may indicate an intendedcomponent to receive the signal (e.g., the second electrical component,the second electrical component, etc. The first piezo electrictransducer may create the target resource identification signal or mayreceive the target resource identification signal from a respectivecomponent, such as the first electrical component.

At 804, the first piezo electric transducer may generate a secondvibration sequence representing a payload signal intended for processingby the second electrical component as a target resource. The payloadsignal may include a signal to be processed by the target resource, suchas the second electrical component. Other components or other piezoelectric transducers that receive the signal that are not the targetresource may disregard the payload signal.

At 806, the second piezo electric transducer may receive the secondvibration sequence and convert the second vibration sequence into thesignal in response to identification of the first vibration sequence asdesignated for a target resource associated with the second piezoelectric transducer. In some embodiments, the payload signal may bereceived by other components, but not processed by components that arenot the target resource, such as by executing instructions on thosecomponents to refrain from processing signals intended or designated forother components.

FIG. 9 is a flow diagram of an illustrative process 900 to utilize piezoelectric transducers as a redundant communication process. The process900 is described with reference to the piezo electric communicationdevice 200 and may be performed by the piezo electric communicationdevice 200 and/or other preceding disclosure. Of course, the process 900may be performed in other similar and/or different environments and/orby other similar and/or different devices including vehicles (e.g., aUAV, etc.). The process 900 may be performed with any of the processes500, 600, 700, and/or 800 described above with respect to FIGS. 5-8 ,respectively.

At 902, a malfunction of a wired connection between the first electricalcomponent and the second electrical component may be detected. Forexample, a component may not receive a signal transmitted via the wiredconnection, may time-out, or may otherwise fail to receive a signal.This failure may cause use of processes described above which use piezoelectric transducers to communicate signals across at least portions ofmembers of a device to other components of the device.

At 904, a first component may generate a signal for transmission to asecond component. The first component may generate the same signal asintended for communication via the wired system, or the signal may be adifferent signal for communication by a piezo electric transducer.

At 906, the first piezo electric transducer may convert the signal to avibration sequence imparted on a member of a frame of the device. Theoperation 906 may be the same as the operation 504 described withreference to FIG. 5 and/or the same as the operation 602 described withreference to FIG. 6 , for example.

FIG. 10 is a block diagram of an illustrative computing architecture ofthe UAV. In various examples, the block diagram may be illustrative ofone or more aspects of the UAV control system 110 that may be used toimplement the various systems, devices, and techniques discussed above.In the illustrated implementation, the UAV control system 110 includesone or more processors 1002, coupled to a non-transitory computerreadable storage medium 1020 via an input/output (I/O) interface 1010.The UAV control system 110 may also include one or more electronic speedcontrol (ESC) 1004, power supply module 1006 and/or a navigation system1008. The UAV control system 110 further includes an inventoryengagement mechanism controller 1012, one or more piezo electriccommunication device(s) 200, a network interface 1016, and one or moreinput/output devices 1018.

In various implementations, the UAV control system 110 may be auniprocessor system including one processor 1002, or a multiprocessorsystem including several processors 1002 (e.g., two, four, eight, oranother suitable number). The processor(s) 1002 may be any suitableprocessor capable of executing instructions. For example, in variousimplementations, the processor(s) 1002 may be general-purpose orembedded processors implementing any of a variety of instruction setarchitectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, orany other suitable ISA. In multiprocessor systems, each processor(s)1002 may commonly, but not necessarily, implement the same ISA.

The non-transitory computer readable storage medium 1020 may beconfigured to store executable instructions, data, flight paths and/ordata items accessible by the processor(s) 1002. In variousimplementations, the non-transitory computer readable storage medium1020 may be implemented using any suitable memory technology, such asstatic random access memory (SRAM), synchronous dynamic RAM (SDRAM),nonvolatile/Flash-type memory, or any other type of memory. In theillustrated implementation, program instructions and data implementingdesired functions, such as those described above, are shown storedwithin the non-transitory computer readable storage medium 1020 asprogram instructions 1022, data storage 1024 and flight path data 1026,respectively. In other implementations, program instructions, dataand/or flight paths may be received, sent or stored upon different typesof computer-accessible media, such as non-transitory media, or onsimilar media separate from the non-transitory computer readable storagemedium 1020 or the UAV control system 110. Generally speaking, anon-transitory, computer readable storage medium may include storagemedia or memory media such as flash memory (e.g., solid state memory),magnetic or optical media (e.g., disk) coupled to the UAV control system110 via the I/O interface 1010. Program instructions and data stored viaa non-transitory computer readable medium may be transmitted bytransmission media or signals such as electrical, electromagnetic, ordigital signals, which may be conveyed via a communication medium suchas a network and/or a wireless link, such as may be implemented via thenetwork interface 1016.

In one implementation, the I/O interface 1010 may be configured tocoordinate I/O traffic between the processor(s) 1002, the non-transitorycomputer readable storage medium 1020, and any peripheral devices, thenetwork interface or other peripheral interfaces, such as input/outputdevices 1018. In some implementations, the I/O interface 1010 mayperform any necessary protocol, timing or other data transformations toconvert data signals from one component (e.g., non-transitory computerreadable storage medium 1020) into a format suitable for use by anothercomponent (e.g., processor(s) 1002). In some implementations, the I/Ointerface 1010 may include support for devices attached through varioustypes of peripheral buses, such as a variant of the Peripheral ComponentInterconnect (PCI) bus standard or the Universal Serial Bus (USB)standard, for example. In some implementations, the function of the I/Ointerface 1010 may be split into two or more separate components, suchas a north bridge and a south bridge, for example. Also, in someimplementations, some or all of the functionality of the I/O interface1010, such as an interface to the non-transitory computer readablestorage medium 1020, may be incorporated directly into the processor(s)1002.

The ESC(s) 1004 communicate with the navigation system 1008 (alsoreferred to as a “controller” herein) and adjust the power of eachrespective propeller motor to guide the UAV along a determined flightpath. The power supply module 1006 may control the charging and anyswitching functions associated with one or more power modules (e.g.,batteries) of the UAV.

The navigation system 1008 may include a global positioning system (GPS)or other similar system that can be used to navigate the UAV to and/orfrom a location. The inventory engagement mechanism controller 1012communicates with the actuator(s) or motor(s) (e.g., a servo motor) usedto engage and/or disengage inventory. For example, when the UAV ispositioned over a level surface at a delivery location, the inventoryengagement mechanism controller 1012 may provide an instruction to amotor that controls the inventory engagement mechanism to release theinventory.

The one or more piezo electric communication device(s) 200 maycommunicate with components described with reference to FIG. 10 , suchas the navigation system 1008, the ESC 1004, the inventory engagementmechanism controller 1012, and so forth. Each piezo electric transducerof the one or more piezo electric communication device(s) 200 may be incommunication via a wired connection or other conduit to respectivecomponents. In some embodiments, the one or more piezo electriccommunication device(s) 200 may be a redundant communication system forthe I/O interface 1010.

The network interface 1016 may be configured to allow data to beexchanged among the UAV control system 110, other devices attached to anetwork, such as other computer systems, and/or with UAV control systemsof other UAVs. For example, the network interface 1016 may enablewireless communication between numerous UAVs. In variousimplementations, the network interface 1016 may support communicationvia wireless general data networks, such as a Wi-Fi network. Forexample, the network interface 1016 may support communication viatelecommunications networks such as cellular communication networks,satellite networks, and the like.

Input/output devices 1018 may, in some implementations, include one ormore displays, image capture devices, thermal sensors, infrared sensors,time of flight sensors, accelerometers, pressure sensors, weathersensors, airflow sensors, etc. Multiple input/output devices 1018 may bepresent and controlled by the UAV control system 110. One or more ofthese sensors may be utilized to assist in landings as well as avoidingobstacles during flight.

As shown in FIG. 10 , the memory may include program instructions 1022which may be configured to implement the example processes and/orsub-processes described above. The data storage 1024 may include variousdata stores for maintaining data items that may be provided fordetermining flight paths, retrieving inventory, landing, identifying alevel surface for disengaging inventory, etc.

In various implementations, the parameter values and other dataillustrated herein as being included in one or more data stores may becombined with other information not described or may be partitioneddifferently into more, fewer, or different data structures. In someimplementations, data stores may be physically located in one memory ormay be distributed among two or more memories.

Those skilled in the art will appreciate that the UAV control system 110is merely illustrative and is not intended to limit the scope of thepresent disclosure. In particular, the computing system and devices mayinclude any combination of hardware or software that can perform theindicated functions, including computers, network devices, internetappliances, PDAs, wireless phones, pagers, etc. The UAV control system110 may also be connected to other devices that are not illustrated, orinstead may operate as a stand-alone system. In addition, thefunctionality provided by the illustrated components may in someimplementations be combined in fewer components or distributed inadditional components. Similarly, in some implementations, thefunctionality of some of the illustrated components may not be providedand/or other additional functionality may be available.

Those skilled in the art will also appreciate that, while various itemsare illustrated as being stored in memory or storage while being used,these items or portions of them may be transferred between memory andother storage devices for purposes of memory management and dataintegrity. Alternatively, in other implementations, some or all of thesoftware components may execute in memory on another device andcommunicate with the illustrated UAV control system 110. Some or all ofthe system components or data structures may also be stored (e.g., asinstructions or structured data) on a non-transitory,computer-accessible medium or a portable article to be read by anappropriate drive, various examples of which are described above. Insome implementations, instructions stored on a computer-accessiblemedium separate from the UAV control system 110 may be transmitted tothe UAV control system 110 via transmission media or signals such aselectrical, electromagnetic, or digital signals, conveyed via acommunication medium such as a wireless link. Various implementationsmay further include receiving, sending or storing instructions and/ordata implemented in accordance with the foregoing description upon acomputer-accessible medium. Accordingly, the techniques described hereinmay be practiced with other UAV control system configurations.

Conclusion

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described. Rather,the specific features and acts are disclosed as illustrative forms ofimplementing the claims.

What is claimed is:
 1. A device comprising: a frame; an electricalcomponent coupled to the frame; and a piezo electric transducer incommunication with the electrical component, the piezo electrictransducer configured to receive generated vibrations and to convert thegenerated vibrations into one or more signals for the electricalcomponent.
 2. The device as recited in claim 1, wherein: the frameincludes a member; and the piezo electric transducer is in contact withthe member and is configured to receive the generated vibrations via themember.
 3. The device as recited in claim 1, wherein the piezo electrictransducer is in contact with a member of the frame and furthercomprising: a second electrical component coupled to the frame; and asecond piezo electric transducer that is in contact with the member andthat is in communication with the second electrical component.
 4. Thedevice as recited in claim 1, further comprising: one or more propulsionunits coupled to the frame; and an electronic speed control (ESC)coupled to a member of the frame, the ESC in communication with thepiezo electric transducer and configured to provide speed control for atleast one propulsion unit of the one or more propulsion units based atleast in part on one or more control signals.
 5. The device as recitedin claim 4, further comprising: a controller coupled to the frame, thecontroller in communication with the piezo electric transducer, thecontroller to provide the one or more control signals to the at leastone propulsion unit to control the device; and a wired connectionbetween the controller and the ESC, the wired connection serving as aprimary conduit for transmitting one or more signals between thecontroller and the ESC, and the piezo electric transducer serving as aredundant conduit for transmitting the one or more signals between thecontroller and the ESC.
 6. A method comprising: generating a signal fortransmission to an electrical component; converting, by a piezo electrictransducer, the signal to a vibration sequence imparted on a frame;receiving the vibration sequence imparted on the frame; converting thevibration sequence into the signal; and communicating the signal to theelectrical component.
 7. The method as recited in claim 6, wherein: thesignal is generated by the electrical component and is for transmissionto a second electrical component; the signal is converted to thevibration sequence by the piezo electric transducer; the vibrationsequence is received by a second piezo electric transducer that isseparated from the second piezo electric transducer by at least aportion of a member of the frame; and the vibration sequence isconverted into the signal by the second piezo electric transducer. 8.The method as recited in claim 6, further comprising, prior to theconverting of the signal by the piezo electric transducer, detecting amalfunction of a wired connection between the electrical component and asecond electrical component.
 9. The method as recited in claim 6,wherein the converting the signal to the vibration sequence includes:generating a first vibration sequence representing a target resourceidentification signal; and generating a second vibration sequencerepresenting a payload signal intended for processing by a secondelectrical component as a target resource, wherein the second electricalcomponent converts the second vibration sequence into the signal inresponse to identification of the first vibration sequence as designatedfor a second electrical component as the target resource.
 10. The methodas recited in claim 6, further comprising: converting, by a second piezoelectric transducer, a different signal to a different vibrationsequence imparted on a member of the frame; receiving, by the piezoelectric transducer, the different vibration sequence imparted on themember; converting, by the piezo electric transducer, the differentvibration sequence into the different signal; and communicating thedifferent signal to the electrical component.
 11. A method comprising:generating, by a first piezo electric transducer, a first vibrationsequence representing a target resource identification signal;generating, by the first piezo electric transducer, a second vibrationsequence representing a payload signal intended for processing as atarget source; receiving, by a second piezo electric transducer that isdifferent than the first piezo electric transducer, the second vibrationsequence; and converting, by the second piezo electric transducer and inresponse to identification of the first vibration sequence as beingassociated with the target source, the second vibration sequence intothe target resource identification signal.
 12. The method as recited inclaim 11, wherein the target resource identification signal indicates anintended component to receive the target resource identification signaland further comprising generating, by the first piezo electrictransducer, the target resource identification signal.
 13. The method asrecited in claim 11, wherein the target resource identification signalindicates an intended component to receive the target resourceidentification signal and further comprising receiving the targetresource identification signal from a different component.
 14. Themethod as recited in claim 11, further comprising: receiving anindication that the payload signal has been received by one or moreother components; and determining that the payload signal was notprocessed by the one or more other components.
 15. The method as recitedin claim 14, further comprising, prior to determining that the payloadsignal was not processed by the one or more other components, executingone or more instructions on the one or more other components to causethe one or more other components to refrain from processing the payloadsignal.
 16. A method comprising: detecting a malfunction of a wiredconnection between a first electrical component and a second electricalcomponent; generating, based at least in part on the malfunction, asignal; and converting, by a piezo electric transducer, the signal intoa vibration sequence imparted on a member of a frame of a device. 17.The method as recited in claim 16, wherein detecting the malfunctioncomprises determining that the second electrical component did notreceive one or more signals transmitted by the first electricalcomponent via the wired connection.
 18. The method as recited in claim16, wherein detecting the malfunction comprises determining a time-outassociated with transmission of one or more signals from the firstelectrical component to the second electrical component.
 19. The methodas recited in claim 16, wherein the first electrical component generatesthe signal for transmission to the second electrical component via thewired connection.
 20. The method as recited in claim 16, furthercomprising: receiving the vibration sequence imparted on the frame;converting the vibration sequence into the signal; and communicating thesignal to the second electrical component.